Pickup device and cleaning robot

Abstract

The utility model discloses a pickup device and cleaning robot, pickup device is used for cleaning robot, including at least one mechanical arm and drive mechanism, the mechanical arm is formed with anticollision part and pickup part, and the mechanical arm is movably arranged at the front side of the body of cleaning robot, and has anticollision position and pickup position on its activity stroke, in anticollision position, anticollision part sets up with the corresponding obstacle, to isolate the body and the obstacle, in pickup position, pickup part sets up with the corresponding obstacle, to pick up the obstacle, drive mechanism drive connection mechanical arm, to drive mechanical arm switches between anticollision position and pickup position, through the mechanical arm is placed at the front side of the body, can shorten the distance between mechanical arm starting position and operating position, thereby shortens the link, not only can reduce motor power under the same load, and has improved the operating flexibility of mechanical arm, solves the operation dead angle problem.

Description

Technical Field

[0001] This utility model relates to the field of cleaning system technology, and in particular to a pickup device and a cleaning robot. Background Technology

[0002] A cleaning robot is a specialized robot designed for various cleaning tasks in different scenarios. Taking a robotic vacuum cleaner as an example, related technologies typically include a space in the middle of the top of the robot to house its robotic arm. When the robot encounters an item that needs to be picked up while moving, the robotic arm extends from this space, and its gripper performs the pickup. The robot also features a separate anti-collision module. When it encounters an obstacle while moving, this module isolates the robot from the obstacle, protecting it. Therefore, while robotic vacuum cleaners in these technologies possess numerous functions, their overall structure is highly complex. Utility Model Content

[0003] The main purpose of this invention is to propose a picking device and a cleaning robot, which aims to solve the problem of high structural complexity of cleaning robots in related technologies.

[0004] To achieve the above objectives, this utility model proposes a picking device for a cleaning robot, comprising:

[0005] At least one robotic arm has a collision avoidance section and a pickup section formed thereon. The robotic arm is movably disposed at the front side of the cleaning robot's body and has a collision avoidance position and a pickup position during its travel. In the collision avoidance position, the collision avoidance section is positioned to isolate the robot body from the obstacle. In the pickup position, the pickup section is positioned to pick up the obstacle.

[0006] The drive mechanism drives the connected robotic arm to switch between a collision avoidance position and a pickup position.

[0007] Preferably, the pickup device further includes a gripping arm located on the front side of the fuselage;

[0008] In the anti-collision position, the robotic arm is positioned on the side of the gripping arm away from the machine body, and the anti-collision part is set towards the obstacle. In the pickup position, the robotic arm and the gripping arm are arranged side by side at intervals, and a gripping groove for picking up the obstacle is formed between the pickup part and the gripping arm.

[0009] Preferably, the picking device includes two robotic arms that can move relative to each other;

[0010] At the collision avoidance position, the two robotic arms are brought together, with the two collision avoidance parts on them spliced ​​together and facing the obstacle. At the pickup position, the two robotic arms are opened, and the two pickup parts are arranged side by side at intervals to form a clamping groove for picking up the obstacle.

[0011] The drive mechanism drives the two robotic arms respectively.

[0012] Preferably, the robotic arm has opposing first and second sidewalls, and opposing first and second ends, wherein the first sidewall forms a collision protection portion, and the second sidewall forms a picking portion at least in a local position near the second end;

[0013] In the collision avoidance position, the two first ends or the two second ends are connected, the two first sidewalls are spliced ​​together and set towards the obstacle. In the picking position, the two robotic arms are set side by side with intervals, the two second ends are set away from the body, the two second sidewalls are set opposite each other, and a clamping groove is formed on the side away from the body.

[0014] Preferably, the drive mechanism includes two drive units, which respectively drive and connect to two robotic arms to drive the two robotic arms to move relative to each other.

[0015] Preferably, at the anti-collision position, the two first ends are positioned away from the fuselage and are connected to each other;

[0016] Two drive units are arranged side by side and are positioned in a front-to-back, upward direction. The drive units drive and connect to the robotic arm and are located close to the first end.

[0017] The drive unit includes a first drive member and a second drive member. The output axis of the first drive member is arranged in the front-rear direction to drive the robotic arm to rotate around its output axis. The output axis of the second drive member is arranged in the thickness direction of the body to drive the robotic arm to rotate around its output axis.

[0018] Preferably, the output axes of the two first driving members are set at an angle.

[0019] Preferably, the drive mechanism further includes a mounting base, a first drive member is connected to the mounting base to drive the mounting base to rotate about its output axis, and a second drive member is disposed on the mounting base, connected to the robotic arm, and disposed near the first end to cause the robotic arm to rotate about its output axis.

[0020] Preferably, at the anti-collision position, the two second ends are positioned away from the fuselage and are connected to each other;

[0021] The two drive units include a first drive unit and a second drive unit arranged side by side. The first drive unit and the second drive unit are staggered in front and behind and upward, and the first drive unit is located close to the middle of the fuselage.

[0022] The first drive unit is connected to a robotic arm and is located near its first end, while the second drive unit is connected to another robotic arm and is located near its second end, so as to drive the two robotic arms to move relative to each other.

[0023] Preferably, the first drive unit includes a first motor, the output shaft of which is arranged along the thickness direction of the machine body and is connected to a robotic arm to drive the robotic arm to rotate about its output axis; and / or,

[0024] The second drive unit includes a bracket, a second motor, and a third motor. The output shaft of the second motor is arranged along the thickness direction of the machine body and drives one end of the bracket to drive the other end of the bracket to rotate around its output axis. The third motor is located at the other end of the bracket. The output shaft of the third motor is arranged along the thickness direction of the machine body and drives the robotic arm to drive the robotic arm to rotate around its output axis.

[0025] Preferably, the pickup device further includes a buffer layer disposed on the side of the anti-collision part facing the obstacle.

[0026] Preferably, the picking device further includes an anti-slip part, which is located inside the clamping groove and is correspondingly disposed on the picking part.

[0027] Preferably, the picking device includes two relatively movable robotic arms, each robotic arm having a first sidewall and a second sidewall, and each robotic arm having a first end and a second end opposite to each other, with a picking portion formed at a local position of the second sidewall near the second end;

[0028] The anti-slip part is located on the second side wall and is positioned near the second end.

[0029] Preferably, the anti-slip part includes a plurality of anti-slip protrusions protruding from the second side, and the plurality of anti-slip protrusions are arranged side by side at intervals in the direction from the first end to the second end.

[0030] Preferably, the pickup device further includes a support frame, which is disposed on the fuselage and located on the front side of the fuselage, and the support frame forms a receiving cavity;

[0031] The robotic arm is mounted on a support frame.

[0032] The drive mechanism is located on the support frame and is at least partially housed within the receiving cavity.

[0033] Preferably, the pickup device further includes a detection component located on the front side of the fuselage for detecting the distance between the fuselage and the obstacle;

[0034] The drive mechanism is electrically connected to the detection component.

[0035] This utility model also proposes a cleaning robot, comprising:

[0036] body;

[0037] The aforementioned picking device comprises at least one robotic arm located on the front side of the robot body, which has a collision avoidance part and a picking part formed thereon. The robotic arm is movably positioned on the front side of the cleaning robot body and has a collision avoidance position and a picking position during its travel. In the collision avoidance position, the collision avoidance part is positioned to isolate the robot body from the obstacle. In the picking position, the picking part is positioned to pick up the obstacle.

[0038] The drive mechanism drives the connected robotic arm to switch between a collision avoidance position and a pickup position.

[0039] Preferably, the pickup device further includes a gripping arm located on the front side of the fuselage;

[0040] In the anti-collision position, the robotic arm is positioned on the side of the gripping arm away from the machine body, and the anti-collision part is set towards the obstacle. In the pickup position, the robotic arm and the gripping arm are arranged side by side at intervals, and a gripping groove for picking up the obstacle is formed between the pickup part and the gripping arm.

[0041] Preferably, the picking device includes two robotic arms that can move relative to each other;

[0042] At the collision avoidance position, the two robotic arms are brought together, with the two collision avoidance parts on them spliced ​​together and facing the obstacle. At the pickup position, the two robotic arms are opened, and the two pickup parts are arranged side by side at intervals to form a clamping groove for picking up the obstacle.

[0043] The drive mechanism drives the two robotic arms respectively.

[0044] Preferably, the robotic arm has opposing first and second sidewalls, and opposing first and second ends, wherein the first sidewall forms a collision protection portion, and the second sidewall forms a picking portion at least in a local position near the second end;

[0045] In the collision avoidance position, the two first ends or the two second ends are connected, the two first sidewalls are spliced ​​together and set towards the obstacle. In the picking position, the two robotic arms are set side by side with intervals, the two second ends are set away from the body, the two second sidewalls are set opposite each other, and a clamping groove is formed on the side away from the body.

[0046] Preferably, the drive mechanism includes two drive units, which respectively drive and connect to two robotic arms to drive the two robotic arms to move relative to each other.

[0047] Preferably, at the anti-collision position, the two first ends are positioned away from the fuselage and are connected to each other;

[0048] Two drive units are arranged side by side and are positioned in a front-to-back, upward direction. The drive units drive and connect to the robotic arm and are located close to the first end.

[0049] The drive unit includes a first drive member and a second drive member. The output axis of the first drive member is arranged in the front-rear direction to drive the robotic arm to rotate around its output axis. The output axis of the second drive member is arranged in the thickness direction of the body to drive the robotic arm to rotate around its output axis.

[0050] Preferably, the output axes of the two first driving members are set at an angle.

[0051] Preferably, the drive mechanism further includes a mounting base, a first drive member is connected to the mounting base to drive the mounting base to rotate about its output axis, and a second drive member is disposed on the mounting base, connected to the robotic arm, and disposed near the first end to cause the robotic arm to rotate about its output axis.

[0052] Preferably, at the anti-collision position, the two second ends are positioned away from the fuselage and are connected to each other;

[0053] The two drive units include a first drive unit and a second drive unit arranged side by side. The first drive unit and the second drive unit are staggered in front and behind and upward, and the first drive unit is located close to the middle of the fuselage.

[0054] The first drive unit is connected to a robotic arm and is located near its first end, while the second drive unit is connected to another robotic arm and is located near its second end, so as to drive the two robotic arms to move relative to each other.

[0055] Preferably, the first drive unit includes a first motor, the output shaft of which is arranged along the thickness direction of the machine body and is connected to a robotic arm to drive the robotic arm to rotate about its output axis; and / or,

[0056] The second drive unit includes a bracket, a second motor, and a third motor. The output shaft of the second motor is arranged along the thickness direction of the machine body and drives one end of the bracket to drive the other end of the bracket to rotate around its output axis. The third motor is located at the other end of the bracket. The output shaft of the third motor is arranged along the thickness direction of the machine body and drives the robotic arm to drive the robotic arm to rotate around its output axis.

[0057] Preferably, the pickup device further includes a buffer layer disposed on the side of the anti-collision part facing the obstacle.

[0058] Preferably, the picking device further includes an anti-slip part, which is located inside the clamping groove and is correspondingly disposed on the picking part.

[0059] Preferably, the picking device includes two relatively movable robotic arms, each robotic arm having a first sidewall and a second sidewall, and each robotic arm having a first end and a second end opposite to each other, with a picking portion formed at a local position of the second sidewall near the second end;

[0060] The anti-slip part is located on the second side wall and is positioned near the second end.

[0061] Preferably, the anti-slip part includes a plurality of anti-slip protrusions protruding from the second side, and the plurality of anti-slip protrusions are arranged side by side at intervals in the direction from the first end to the second end.

[0062] Preferably, the pickup device further includes a support frame, which is disposed on the fuselage and located on the front side of the fuselage, and the support frame forms a receiving cavity;

[0063] The robotic arm is mounted on a support frame.

[0064] The drive mechanism is located on the support frame and is at least partially housed within the receiving cavity.

[0065] Preferably, the pickup device further includes a detection component located on the front side of the fuselage for detecting the distance between the fuselage and the obstacle;

[0066] The drive mechanism is electrically connected to the detection component.

[0067] This utility model also proposes a cleaning robot, comprising:

[0068] body;

[0069] The aforementioned pickup device is located on the front side of the fuselage.

[0070] The technical solution provided by this utility model has at least the following advantages:

[0071] The picking device provided by this utility model includes at least one robotic arm, which is movably positioned at the front of the cleaning robot's body. By placing the robotic arm at the front of the body, not only can the link be shortened and the motor power reduced under the same load, but the operational flexibility of the robotic arm can also be improved, and the problem of blind spots in operation can be solved. Simultaneously, the robotic arm has an anti-collision section and a picking section. During the cleaning robot's movement, when it encounters an obstacle that needs to be picked up, the cleaning robot can adjust to the picking mode, the robotic arm moves to the picking position, the picking section is positioned corresponding to the obstacle, and picks up the obstacle. When the cleaning robot suddenly encounters an obstacle, it can adjust to the anti-collision mode, the robotic arm moves to the anti-collision position, the anti-collision section is positioned corresponding to the obstacle, and the body is isolated from the obstacle. Thus, by integrating the picking section and the anti-collision section on the robotic arm, and utilizing the movement of the robotic arm to switch between picking and anti-collision, functional reuse is achieved, the number of components is reduced, and the overall complexity of the machine is lowered. Attached Figure Description

[0072] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0073] Figure 1 A schematic diagram of the structure of a first embodiment of a picking device (robotic arm docking) provided by this utility model;

[0074] Figure 2 for Figure 1 A schematic diagram of the structure of the pickup device (mechanical arm open);

[0075] Figure 3 for Figure 1 A schematic diagram of the pickup device with respect to the drive mechanism;

[0076] Figure 4 A schematic diagram of the structure of a second embodiment of a picking device (robotic arm docking) provided by this utility model;

[0077] Figure 5 for Figure 4 A schematic diagram of the structure of the picking device (mechanical arm open).

[0078] Explanation of icon numbers:

[0079] 100 Pickup device; 1 robotic arm; A anti-collision part; B pickup part; 11 first side wall; 12 second side wall; 13 first end; 14 second end; 2 drive mechanism; 21 drive part; 211 first drive member; 212 second drive member; 21a first drive part; 21b second drive part; 213 first motor; 214 second motor; 215 third motor; 22 mounting base; 23 bracket; 24 first connecting part; 25 second connecting part; 26 third connecting part; 3 anti-slip part; 31 anti-slip protrusion; 4 support frame; 41 receiving cavity; F1 front-rear direction; F2 thickness direction.

[0080] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0081] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0082] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0083] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0084] Cleaning robots can be used in environments such as homes, offices, shopping malls, and factories. A cleaning robot consists of a body and components such as a robotic arm mounted on the body.

[0085] The cleaning robot integrates various functional modules. These modules can be, but are not limited to, control modules, sensing modules, and drive modules. Depending on the specific needs, the cleaning robot can be configured to move freely, or it can be configured to remain essentially stationary.

[0086] The robotic arm 1 is movably mounted on the body of the cleaning robot and is mechanically connected to the drive module. The drive module and the control module are electrically connected. This allows the drive module to automatically drive the robotic arm 1 to perform any suitable action under the control of the control module. The degree of freedom of this action is not limited, and it can be, but is not limited to, linear translation along the target direction and / or rotation around an axis extending in the target direction.

[0087] Please see Figures 1 to 5 The picking device 100 disclosed herein includes at least one robotic arm 1 and a drive mechanism 2. The robotic arm 1 has a collision avoidance part A and a picking part B formed on it. The robotic arm 1 is movably disposed on the front side of the body of the cleaning robot and has a collision avoidance position and a picking position in its stroke. In the collision avoidance position, the collision avoidance part A is set to correspond to the obstacle to isolate the body from the obstacle. In the picking position, the picking part B is set to correspond to the obstacle to pick up the obstacle. The drive mechanism 2 drives the robotic arm 1 to switch between the collision avoidance position and the picking position.

[0088] The picking device 100 provided by this utility model includes at least one robotic arm 1, which is movably disposed on the front side of the cleaning robot's body. In this way, the distance between the starting position and the operating position of the robotic arm 1 can be shortened, thereby shortening the link. This not only reduces the motor power under the same load, but also allows the robotic arm 1 to extend directly from the front side of the body, improving the operational limitations of the robotic arm 1 extending from the top of the body, increasing the operational flexibility of the robotic arm 1, and solving the problem of blind spots in operation.

[0089] Furthermore, the robotic arm 1 has a collision avoidance part A and a pickup part B. When the robotic arm 1 moves to the collision avoidance position, the collision avoidance part A is set to the obstacle to isolate the body from the obstacle. When the robotic arm 1 moves to the pickup position, the pickup part B is set to the obstacle to pick up the obstacle.

[0090] In other words, during the cleaning robot's movement, when it encounters an obstacle that needs to be picked up, the robot can switch to pickup mode. The robotic arm 1 moves to the pickup position, and the pickup unit B is positioned to pick up the obstacle. When the cleaning robot suddenly encounters an obstacle, it can switch to anti-collision mode. The robotic arm 1 moves to the anti-collision position, and the anti-collision unit A is positioned to isolate the robot body from the obstacle. Thus, by integrating the pickup and anti-collision units on the robotic arm 1 and utilizing the movement of the robotic arm 1 to switch between pickup and anti-collision, functional reuse is achieved, reducing the number of components and lowering the overall complexity of the robot.

[0091] It should be noted that the front side of a cleaning robot refers to the side of the robot in the direction it is moving. Taking a robotic vacuum cleaner as an example, in the design of a robotic vacuum cleaner, the front side usually refers to the "head" side of the robot in the normal direction of movement, that is, the direction the robot is facing when it moves forward.

[0092] This disclosure does not impose a specific limit on the number of robotic arms 1.

[0093] In one embodiment, the picking device 100 further includes a clamping arm disposed on the front side of the body; in the anti-collision position, the robotic arm 1 is located on the side of the clamping arm away from the body, and the anti-collision part A is disposed facing the obstacle; in the picking position, the robotic arm 1 and the clamping arm are disposed side by side at intervals, and a clamping groove for picking up the obstacle is formed between the picking part B and the clamping arm.

[0094] In this embodiment, the picking device 100 includes a movable robotic arm 1 and a fixed clamping arm; the robotic arm 1 can be moved to the side of the clamping arm away from the robot body, or it can be arranged side by side with the clamping arm at a distance; when the robotic arm 1 is on the side of the clamping arm away from the robot body, the anti-collision part A on the robotic arm 1 is arranged towards the obstacle, so as to isolate the robot body from the obstacle when the cleaning robot encounters the obstacle; when the robotic arm 1 and the clamping arm are arranged side by side at a distance, the picking part B and the clamping arm form a clamping groove for picking up the obstacle, so as to clean the obstacle on the front side of the robot body.

[0095] In another embodiment, the picking device 100 includes two robotic arms 1 that can move relative to each other; in the anti-collision position, the two robotic arms 1 are close together, and the two anti-collision parts A on them are spliced ​​together and facing the obstacle; in the picking position, the two robotic arms 1 are open, and the two picking parts B are arranged side by side at intervals to form a clamping groove for picking up the obstacle; wherein, the driving mechanism 2 drives the two robotic arms 1 respectively.

[0096] In this embodiment, the picking device 100 includes two relatively movable robotic arms 1; the two robotic arms 1 can move close together, and the two anti-collision parts A on them are spliced ​​together and set towards the obstacle, so as to isolate the robot body from the obstacle when the cleaning robot encounters the obstacle; the two robotic arms 1 can be opened so that the two picking parts B on them are arranged side by side at intervals to form a gripping groove for picking up the obstacle, thereby cleaning the obstacle on the front side of the robot body.

[0097] The following describes the specific embodiment of the picking device 100, which includes two robotic arms 1, in conjunction with the accompanying drawings.

[0098] Please see Figure 1 , Figure 2 , Figure 4 as well as Figure 5 The robotic arm 1 has opposing first sidewalls 11 and second sidewalls 12, and opposing first end 13 and second end 14. The first sidewall 11 forms a collision protection part A, and the second sidewall 12 forms a picking part B at least in a local position near the second end 14.

[0099] In the collision avoidance position, the two first ends 13 or the two second ends 14 are joined together, and the two first sidewalls 11 are spliced ​​together and set towards the obstacle. In the picking position, the two robotic arms 1 are arranged side by side with intervals, and the two second ends 14 are set away from the body, the two second sidewalls 12 are set opposite each other, and a clamping groove is formed on the side away from the body.

[0100] In other words, the first sidewall 11 of the robotic arm 1 forms a collision avoidance part A, and the second sidewall 12 of the robotic arm 1 forms a pickup part B at least partially. When the cleaning robot encounters an obstacle, it will adjust to the collision avoidance mode. At this time, the two robotic arms 1 move to the collision avoidance position, the ends of the two robotic arms 1 are joined together, and the two first sidewalls 11 are spliced ​​together to form a collision avoidance surface facing the obstacle, so as to contact the obstacle and thus isolate the robot body from the obstacle.

[0101] When the cleaning robot encounters an obstacle that needs to be cleaned, it will switch to the picking mode. At this time, the two robotic arms 1 move to the picking position. The two robotic arms 1 are arranged side by side with intervals, the two second sidewalls 12 are arranged opposite each other, and the two second ends 14 are set away from the body. This can form a gripping groove on the side away from the body to pick up and clean the obstacle.

[0102] This disclosure does not impose specific limitations on the structure of the drive mechanism 2. The drive mechanism 2 may include one drive unit 21, which drives the two robotic arms 1 through different transmission components. The drive mechanism 2 may also include two drive units 21, which respectively drive and connect the two robotic arms 1 to drive the two robotic arms 1 to move relative to each other.

[0103] Please see Figures 1 to 3 In the first embodiment of this disclosure, at the anti-collision position, the two first ends 13 are positioned away from the body and connected to each other, and the two first sidewalls 11 are joined to form an anti-collision surface facing the obstacle, so that when the cleaning robot encounters an obstacle, it can contact the obstacle, thereby isolating the body from the obstacle. During the process of the robotic arm 1 switching from the anti-collision position to the picking position, the two robotic arms 1 move relative to each other, so that the two robotic arms 1 are arranged side by side with intervals, and the two second ends 14 are positioned away from the body.

[0104] To enable relative movement of the two robotic arms 1, two drive units 21 are arranged side by side and positioned correspondingly in the front-back direction F1. The drive units 21 drive and connect to the robotic arms 1 and are located near the first end 13. Each drive unit 21 includes a first drive member 211 and a second drive member 212. The output axis of the first drive member 211 is arranged along the front-back direction F1 to drive the robotic arm 1 to rotate around its output axis. The output axis of the second drive member 212 is arranged along the thickness direction F2 of the robotic body to drive the robotic arm 1 to rotate around its output axis.

[0105] Understandably, since the drive unit 21 drives and connects to the robotic arm 1 and is located close to the first end 13, the connection point between the drive unit 21 and the robotic arm 1 is at different distances from the first end 13 and the second end 14. In order to ensure that the two robotic arms 1 can smoothly switch between the pickup position and the anti-collision position, the first drive member 211 is used to drive the robotic arm 1 to rotate along the output axis of the front-back direction F1, and the second drive member 212 is used to drive the robotic arm 1 to rotate along the output axis of the body thickness direction F2.

[0106] For example, in a practical application scenario, two robotic arms 1 are arranged horizontally upwards. When the picking device 100 needs to switch from the anti-collision position to the picking position, the motor of the robotic arm 1 located inside the body drives the robotic arm 1 to move away from the body. Now, taking the front side of the body as the forward direction, the movement process of the two robotic arms 1 is explained.

[0107] The movement of the two robotic arms 1 is as follows: The second drive unit 212 drives the left robotic arm 1 to rotate clockwise by 2° along the output axis of the body thickness direction F2; the first drive unit 211 drives the left robotic arm 1 to rotate clockwise by 90° along the output axis of the front-back direction F1; the second drive unit 212 drives the left robotic arm 1 to rotate clockwise by 78° along the output axis of the body thickness direction F2; the first drive unit 211 drives the left robotic arm 1 to rotate clockwise by 90° along the output axis of the front-back direction F1. The first drive unit 211 drives the right robotic arm 1 to rotate clockwise by 90° along the output axis of the front-back direction F1; the second drive unit 212 drives the right robotic arm 1 to rotate counterclockwise by 15° along the output axis of the body thickness direction F2; the first drive unit 211 drives the right robotic arm 1 to rotate clockwise by 90° along the output axis of the front-back direction F1.

[0108] It should be noted that the aforementioned adjustments to the left and right robotic arms 1 can be performed simultaneously, without a specific order. During the adjustment process, robotic arm 1 is rotated twice clockwise and then flipped 180° along the output axis F1 in the front-to-back direction. Simultaneously, both robotic arms 1 are rotated and opened along the output axis F2 in the thickness direction of the machine body, thus providing sufficient space for the two robotic arms 1 to flip. After the flipping is completed, the two robotic arms 1 can be set up side by side with intervals to complete the picking operation.

[0109] Specifically, please refer to Figure 3 The drive mechanism 2 also includes a mounting base 22. The first drive member 211 drives and connects to the mounting base 22 to drive the mounting base 22 to rotate around its output axis. The second drive member 212 is disposed on the mounting base 22, drives and connects to the robotic arm 1, and is disposed near the first end 13 to make the robotic arm 1 rotate around its output axis.

[0110] Furthermore, to facilitate the drive mechanism 2 in switching the two robotic arms 1 between the anti-collision position and the pickup position, in one embodiment, the output axes of the two first drive members 211 are set at an angle. Preferably, the angle is set to 0° to 60°.

[0111] This disclosure does not impose specific limitations on the form of the first drive member 211 and the second drive member 212. Preferably, both the first drive member 211 and the second drive member 212 are configured as servo motors, thereby realizing the forward and reverse rotation of the robotic arm 1.

[0112] In one embodiment, the drive mechanism 2 further includes a first connecting portion 24, which protrudes from the second sidewall 12 and is disposed near the first end 13. The output shaft of the second drive member 212 is driven to connect to the first connecting portion 24, thereby realizing the drive connection between the second drive member 212 and the robotic arm 1, which facilitates assembly.

[0113] Please see Figure 4 and Figure 5 In the second embodiment of this disclosure, in the anti-collision position, the two robotic arms 1 move closer to each other, with the two second ends 14 positioned away from the robot body and connected to each other. The two first sidewalls 11 are joined to form an anti-collision surface facing the obstacle, so that when the cleaning robot encounters an obstacle, it can contact the obstacle, thereby isolating the robot body from the obstacle. During the process of the robotic arms 1 switching from the anti-collision position to the picking position, the two robotic arms 1 move open relative to each other, so that the two robotic arms 1 are arranged side by side with intervals, forming a gripping groove on the side away from the robot body.

[0114] To enable relative movement of the two robotic arms 1, two drive units 21 include a first drive unit 21a and a second drive unit 21b arranged side by side. The first drive unit 21a and the second drive unit 21b are staggered in the front-rear direction F1, and the first drive unit 21a is located near the middle of the body. The first drive unit 21a drives and connects to one robotic arm 1 and is located near its first end 13, while the second drive unit 21b drives and connects to the other robotic arm 1 and is located near its second end 14, thereby driving the two robotic arms 1 to move relative to each other.

[0115] Understandably, in this embodiment, the two second ends 14 of the two robotic arms 1, which are away from the body, are movable and connected to switch between the anti-collision position and the pickup position. At this time, the two robotic arms 1 can rotate relative to each other in the thickness direction F2 of the body. By staggering the first drive unit 21a and the second drive unit 21b in the front-rear direction F1, the first drive unit 21a, which is closer to the middle of the body, drives and connects to one robotic arm 1 and is located close to its first end 13, while the second drive unit 21b, which is away from the middle of the body, drives and connects to the other robotic arm 1 and is located close to its second end 14. In this way, the two robotic arms 1 can move relative to each other and avoid interference between the two robotic arms 1 during relative movement.

[0116] Specifically, please refer to Figure 4 and Figure 5 The first drive unit 21a includes a first motor 213. The output shaft of the first motor 213 is arranged along the thickness direction F2 of the machine body and is connected to the mechanical arm 1 to drive the mechanical arm 1 to rotate around its output axis.

[0117] The second drive unit 21b includes a bracket 23, a second motor 214, and a third motor 215. The output shaft of the second motor 214 is arranged along the thickness direction F2 of the machine body and drives one end of the bracket 23 to drive the other end of the bracket 23 to rotate around its output axis. The third motor 215 is located at the other end of the bracket 23. The output shaft of the third motor 215 is arranged along the thickness direction F2 of the machine body and drives the robotic arm 1 to drive the robotic arm 1 to rotate around its output axis.

[0118] It should be noted that the above two technical features can be set individually or simultaneously. Specifically, in one embodiment, the above two technical features are set simultaneously.

[0119] For example, in a practical application scenario, two robotic arms 1 are arranged horizontally and upwards. When the picking device 100 needs to switch from the anti-collision position to the picking position, the motor of the robotic arm 1 located inside the body drives the robotic arm 1 to move away from the body. Now, taking the front side of the body as the forward direction, the movement process of the two robotic arms 1 is explained.

[0120] The output shaft of the first motor 213 drives the right robotic arm 1 to rotate clockwise around the output axis of the thickness direction F2 of the machine body; the output shaft of the third motor 215 drives the left robotic arm 1 to rotate counterclockwise around the output axis of the thickness direction F2 of the machine body; the output shaft of the second motor 214 drives one end of the bracket 23 to rotate clockwise around the output axis of the thickness direction F2 of the machine body, so that the robotic arm 1 located at the other end of the bracket 23 can rotate clockwise around one end of the bracket 23 along the output axis of the thickness direction F2 of the machine body, so that the two robotic arms 1 can be set up side by side at intervals to complete the picking operation.

[0121] In one embodiment, the drive mechanism 2 further includes a second connecting portion 25 and a third connecting portion 26. The second connecting portion 25 is disposed on the second side wall 12 of the left robotic arm 1 and is disposed near the first end 13. The third connecting portion 26 is disposed on the second side wall 12 of the right robotic arm 1 and is disposed near the second end 14. The output shaft of the third motor 215 is driven to connect to the second connecting portion 25, and the output shaft of the first motor 213 is driven to connect to the third connecting portion 26.

[0122] Based on the two embodiments described above, in this disclosure, the picking device 100 further includes a buffer layer disposed on the side of the anti-collision part A facing the obstacle. For example, "the first sidewall 11 forms the anti-collision part A," and the buffer layer disposed on the first sidewall 11 can play a buffering role when the robotic arm 1 contacts the obstacle, thereby improving the anti-collision effect.

[0123] In this disclosure, the picking device 100 also includes an anti-slip part 3, which is located inside the clamping groove and correspondingly disposed on the picking part B. This can increase the contact friction between the picking part B and the obstacle, thereby ensuring the stability of the picking part B in picking up the obstacle.

[0124] As stated above, "The picking device 100 includes two relatively movable robotic arms 1". Each robotic arm 1 has a first sidewall 11 and a second sidewall 12. Each robotic arm 1 has a first end 13 and a second end 14 that are opposite to each other. A picking part B is formed at a local position of the second sidewall 12 near the second end 14. An anti-slip part 3 is provided on the second sidewall 12 and is located near the second end 14.

[0125] Specifically, the anti-slip part 3 includes a plurality of anti-slip protrusions 31 protruding from the second side. The plurality of anti-slip protrusions 31 are arranged side by side at intervals in the direction from the first end 13 to the second end 14.

[0126] In this disclosure, please refer to Figure 3 and Figure 4 The pickup device 100 also includes a support frame 4, which is located on the body and at the front of the body. The support frame 4 forms a receiving cavity 41. The robotic arm 1 is movably mounted on the support frame 4. The drive mechanism 2 is mounted on the support frame 4 and is at least partially housed in the receiving cavity 41. Thus, the support frame 4 not only provides a mounting position for the robotic arm 1 and the drive mechanism 2, but also provides a accommodating space for the drive mechanism 2, thereby making the pickup device 100 compact and reducing its volume.

[0127] In this disclosure, the pickup device 100 further includes a detection component located at the front of the body for detecting the distance between the body and an obstacle; wherein the drive mechanism 2 is electrically connected to the detection component. The drive mechanism 2, the detection component, and the control module inside the body are electrically connected; the control module can control the drive mechanism 2 to drive the robotic arm 1 to switch between a collision avoidance position and a pickup position based on the parameters detected by the detection component.

[0128] As can be seen from the above embodiments, the picking device 100 is movably disposed on the front side of the robot body; the picking device 100 includes a robotic arm 1 and a drive mechanism 2, the robotic arm 1 and the drive mechanism 2 are mechanically connected, and the drive mechanism 2 and the control module are electrically connected. When the cleaning robot encounters an obstacle during operation, it will adjust to the anti-collision mode, the robotic arm 1 will move to the anti-collision position, and the anti-collision part A on the robotic arm 1 will be set to correspond to the obstacle to isolate the robot body from the obstacle; when the cleaning robot encounters an obstacle that needs to be picked up during operation, the cleaning robot can adjust to the picking mode, the robotic arm 1 will move to the picking position, and the picking part B on the robotic arm 1 will be set to correspond to the obstacle to pick up the obstacle.

[0129] By placing the robotic arm 1 at the front of the machine body, the distance between the starting position and the operating position of the robotic arm 1 can be shortened, thereby shortening the link. This not only reduces motor power under the same load, but also allows the robotic arm 1 to extend directly from the front of the machine body, improving the operational limitations of extending the robotic arm 1 from the top of the machine body, increasing the operational flexibility of the robotic arm 1, and solving the problem of blind spots. Furthermore, while forming the picking part B on the robotic arm 1, a collision protection part A is also partially formed, thereby achieving functional reuse, reducing the number of components, and reducing the overall complexity of the machine.

[0130] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the concept of the present utility model and using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included in the patent protection scope of the present utility model.

Claims

1. A picking device for a cleaning robot, characterized in that, include: At least one robotic arm having a collision avoidance section and a pickup section formed thereon, the robotic arm being movably disposed at the front side of the cleaning robot's body, and having a collision avoidance position and a pickup position during its travel. In the collision avoidance position, the collision avoidance section is positioned to isolate the robot body from an obstacle; in the pickup position, the pickup section is positioned to pick up the obstacle. A drive mechanism drives the robotic arm to switch between the collision avoidance position and the pickup position.

2. The pickup device according to claim 1, characterized in that, The pickup device also includes a clamping arm located on the front side of the fuselage; In the collision avoidance position, the robotic arm is located on the side of the gripping arm away from the machine body, and the collision avoidance part is positioned facing the obstacle; At the pickup position, the robotic arm and the gripping arm are arranged side by side at a distance, and a gripping groove for picking up obstacles is formed between the pickup part and the gripping arm.

3. The pickup device according to claim 1, characterized in that, The picking device includes two robotic arms that are movable relative to each other; At the collision avoidance position, the two robotic arms are brought together, and the two collision avoidance parts on them are spliced ​​together and positioned towards the obstacle; At the pickup position, the two robotic arms are opened, and the two pickup parts are arranged side by side at intervals to jointly form a clamping groove for picking up obstacles; The drive mechanism drives the two robotic arms respectively.

4. The pickup device according to claim 3, characterized in that, The robotic arm has opposing first and second sidewalls, and opposing first and second ends, wherein the first sidewall forms the anti-collision portion, and the second sidewall forms the picking portion at least in a local position near the second end; At the anti-collision position, the two first ends or the two second ends are joined together, and the two first sidewalls are spliced ​​together and positioned towards the obstacle. At the picking position, the two robotic arms are arranged side by side with a gap, and the two second ends are positioned away from the body. The two second sidewalls are positioned opposite each other, and the clamping groove is formed on the side away from the body.

5. The pickup device according to claim 4, characterized in that, The drive mechanism includes two drive units, which respectively drive and connect to the two robotic arms to drive the two robotic arms to move relative to each other.

6. The pickup device according to claim 5, characterized in that, At the collision avoidance position, the two first ends are positioned away from the fuselage and connected to each other; The two drive units are arranged side by side and correspond to each other in a front-to-back upward position. The drive units drive and connect to the robotic arm and are located close to the first end. The drive unit includes a first drive member and a second drive member. The output axis of the first drive member is arranged in the front-rear direction to drive the robotic arm to rotate around its output axis. The output axis of the second drive member is arranged in the thickness direction of the body to drive the robotic arm to rotate around its output axis.

7. The pickup device according to claim 6, characterized in that, The output axes of the two first driving elements are set at an angle.

8. The pickup device according to claim 6, characterized in that, The drive mechanism further includes a mounting base. The first drive member is driven to connect to the mounting base to drive the mounting base to rotate about its output axis. The second drive member is disposed on the mounting base, driven to connect to the robotic arm, and disposed near the first end to cause the robotic arm to rotate about its output axis.

9. The pickup device according to claim 5, characterized in that, At the collision avoidance position, the two second ends are positioned away from the fuselage and are connected to each other; The two drive units include a first drive unit and a second drive unit arranged side by side. The first drive unit and the second drive unit are staggered in front and behind and upward, and the first drive unit is located close to the middle of the fuselage. The first driving unit is connected to one of the robotic arms and is located near its first end, while the second driving unit is connected to another robotic arm and is located near its second end, so as to drive the two robotic arms to move relative to each other.

10. The pickup device according to claim 9, characterized in that, The first drive unit includes a first motor, the output shaft of which is arranged along the thickness direction of the machine body and is drive-connected to the robotic arm to drive the robotic arm to rotate about its output axis; and / or, The second drive unit includes a bracket, a second motor, and a third motor. The output shaft of the second motor is arranged along the thickness direction of the machine body and is driven to one end of the bracket to drive the other end of the bracket to rotate around its output axis. The third motor is located at the other end of the bracket, and the output shaft of the third motor is arranged along the thickness direction of the machine body and is driven to the robotic arm to drive the robotic arm to rotate around its output axis.

11. The pickup device according to claim 1, characterized in that, The pickup device also includes a buffer layer disposed on the side of the anti-collision part facing the obstacle.

12. The pickup device according to claim 2 or 3, characterized in that, The picking device further includes an anti-slip part, which is located inside the clamping groove and is correspondingly disposed on the picking part.

13. The pickup device according to claim 12, characterized in that, The picking device includes two relatively movable robotic arms, each robotic arm having a first sidewall and a second sidewall, and each robotic arm having a first end and a second end opposite to each other. The picking part is formed at a local position of the second sidewall near the second end. The anti-slip part is located on the second side wall and is positioned near the second end.

14. The pickup device according to claim 13, characterized in that, The anti-slip part includes a plurality of anti-slip protrusions protruding from the second side, and the plurality of anti-slip protrusions are arranged side by side at intervals in the direction from the first end to the second end.

15. The pickup device according to claim 1, characterized in that, The pickup device also includes a support frame, which is disposed on the body and located at the front side of the body, and the support frame forms a receiving cavity; The robotic arm is movably mounted on the support frame; The drive mechanism is located on the support frame and is at least partially housed within the receiving cavity.

16. The pickup device according to claim 1, characterized in that, The pickup device also includes a detection component located at the front of the fuselage for detecting the distance between the fuselage and the obstacle; The driving mechanism is electrically connected to the detection component.

17. A cleaning robot, characterized in that, include: body; The pickup device as described in any one of claims 1-16, wherein the pickup device is disposed on the front side of the fuselage.

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